Calculations for Mechanical Design Section:

Gear Calculations: Gear Ratio, Tangential Force, Bending Tooth, Fatigue Life and Strength, Torques
and Reserve Factor (DJVR)

Motor Sizing and Selection: Kinematic Calculations to find joint torques at the top, size and select
motors from appropriate catalogue and get prices, find speeds i.e. what we require and what can be
delivered by the motors, shaft calculations on the motor shafts – torsion, axial loading and fatigue of
the shafts, friction torques. (NB)

Top Bearing Calculation – Reaction Force, Moments, Reserve Factor, Service Life and Fatigue and
Shaft Calculations if needed. (DJVR)

Bolt Calculations on Top Bracket – Look at the tensile forces, stresses, SF, stressed areas and check
fatigue properties (DJVR)

Fatigue Calculations on all robot links – Fatigue strength, Stresses, Loads and Safety Factors all
leading into FEAs (NB; SK)

Weld Calculations on the Top Flange – throat dimensions, design stress and bending stresses,
moments of inertia, check for no failure with safety factor on the weld (DJVR)

Counterweight – Establish the mass needed on the end of the counterweight linkage. Try and iterate
using different poses to find the max mass needed. (SK)

Plain Bearing/Bushing Calculations – Axial loading, Friction torques, fatigue, wear and service life
(DJVR)

Pin Clamping Force Calculations – Analyse spring effect of the nylon spacers and find the forces,
include the effects of the spring washer (NB)

Tightening Torques on pins – Bolt calculation to find the tightening torque required at the threaded
pin sections. (NB)

Shear and Bending Calculations at the Pinned Joints – Check SF at the joints by using the shear force
and ensure no failure due to shear or bending. (SK)

Stiffness and Compliance of Joints and Links (NB;SK) will have to do this next semester/during
holiday